Pulling shaft robot hand

Abstract

The utility model relates to industrial tool technical field discloses pull out the axle mechanical hand, include: base, spindle, rotate and connect in the base around the axis of direction of up and down, be provided with the support arm of up and down activity on the spindle, rotate and connect to have the rotary arm around the axis of direction of up and down of the support arm, clamping assembly, rotate and connect in the rotary arm around the axis of direction of up and down, the clamping assembly has the axle space of open and close, the utility model has reduced the labor intensity of worker to axle piece handling, holding, has improved the efficiency and security of the operation of axle piece feeding and drawing, dismounting.

Description

Technical Field

[0001] This utility model relates to the field of industrial tool technology, and in particular to a shaft-pulling robot. Background Technology

[0002] In scenarios such as mechanical repair, equipment assembly, and slitting machine operation, the removal of shaft parts mainly relies on manual operation. This involves manually handling and loading / unloading shafts, resulting in low efficiency, high labor intensity, and the risk of shafts slipping and falling due to uneven force applied manually, potentially causing worker injuries. Therefore, there is an urgent need for equipment that can improve the efficiency of shaft removal operations. Utility Model Content

[0003] The purpose of this utility model is to provide a shaft-pulling robot to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0004] The solution to the technical problem of this utility model is:

[0005] A shaft-pulling robot includes: a base; a main shaft rotatably connected to the base about an axis in the vertical direction, a support arm that can move up and down on the main shaft, and a rotating arm rotatably connected to the support arm about an axis in the vertical direction; and a clamping assembly rotatably connected to the rotating arm about an axis in the vertical direction, the clamping assembly having an openable and closable shaft-pulling space.

[0006] This technical solution has at least the following beneficial effects: The base is installed on the structural surface of the external device, such as the ground or a frame, while the support arm and the rotating arm form a two-bar linkage mechanism. With the support arm moving up and down on the main shaft, the position of the clamping assembly can be flexibly adjusted to approach the shaft to be clamped. The clamping space within the clamping assembly is opened, and the shaft is clamped and fixed using the clamping assembly. After the position of the clamping assembly is adjusted, the shaft can be loaded and unloaded. When the shaft needs to be moved along its axial direction to achieve the assembly and disassembly of the shaft, since the main shaft is rotatably connected to the base, the main shaft can rotate on the base around the vertical axis, and the clamping assembly can rotate on the rotating arm around the vertical axis, which can push and pull the shaft along its axial direction, thereby achieving the assembly and disassembly of the shaft. In this way, the labor intensity of workers in handling and holding the shaft is reduced, and the efficiency and safety of the shaft loading, unloading, disassembly and assembly operations are improved.

[0007] As a further improvement to the above technical solution, the clamping assembly includes a connecting seat, a clamping block, and a clamping drive. The connecting seat is rotatably connected to the rotating arm. A slot is provided on one side of the connecting seat. The clamping drive is connected to the top side of the connecting seat. The movable end of the clamping drive extends into the slot and connects to the clamping block. The clamping drive can drive the clamping block to move up and down. The clamping block and the bottom side of the slot form the clamping shaft space.

[0008] As a further improvement to the above technical solution, the bottom surface of the clamping block is provided with an upper arc-shaped surface, the arc-shaped opening of the upper arc-shaped surface is provided downward, and the bottom side of the slot is provided with a lower arc-shaped surface, the arc-shaped opening of the lower arc-shaped surface is provided upward.

[0009] As a further improvement to the above technical solution, anti-slip pads are respectively provided on the bottom side of the upper arc-shaped surface and the top side of the lower arc-shaped surface.

[0010] As a further improvement to the above technical solution, a push-pull handle is connected to the connecting seat.

[0011] As a further improvement to the above technical solution, the main shaft is provided with a lifting drive, the lifting drive is connected to a lifting seat, the lifting seat is slidably connected to the outside of the main shaft, the lifting drive can drive the lifting seat to move up and down, and the support arm is connected to the lifting seat.

[0012] As a further improvement to the above technical solution, the lifting drive includes a motor, a screw, and a transmission block. The motor is connected to the top side of the main shaft, the screw is rotatably connected to the main shaft, the motor is driven by the screw, the transmission block is threaded onto the screw, and a straight groove extending in the vertical direction is provided on the outer side of the main shaft. The transmission block extends out of the straight groove and is connected to the lifting seat.

[0013] As a further improvement to the above technical solution, a slanted arm is connected between the support arm and the lifting seat.

[0014] As a further improvement to the above technical solution, a mounting plate is provided on the bottom side of the base, and the mounting plate is provided with multiple mounting holes.

[0015] As a further improvement to the above technical solution, a reinforcing rib is provided between the mounting plate and the base.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this utility model, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional view of the entire utility model.

[0019] Figure 2 This is a perspective view of the clamping component of this utility model.

[0020] In the attached diagram: 100-base, 110-mounting plate, 111-mounting hole, 120-reinforcing rib, 200-spindle, 210-support arm, 220-rotating arm, 230-slanted arm, 310-connecting seat, 311-grooving, 312-lower arc surface, 320-clamping block, 321-upper arc surface, 330-clamping drive, 340-push-pull handle, 400-lifting drive, 410-lifting seat. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0026] Reference Figure 1 and Figure 2 A shaft-pulling robot includes a base 100, a main shaft 200, and a clamping assembly. The main shaft 200 is rotatably connected to the base 100 and can rotate on the base 100 about an axis extending in the vertical direction. The main shaft 200 is provided with a vertically movable support arm 210, and the support arm 210 is rotatably connected to a rotating arm 220 about an axis extending in the vertical direction. The clamping assembly is rotatably connected to the rotating arm 220 about an axis extending in the vertical direction and has an openable and closable shaft-pulling space.

[0027] As described above, the base 100 is installed on the structural surface of the external device, such as the ground or a frame. The support arm 210 and the rotating arm 220 form a two-bar linkage mechanism. With the support arm 210 moving up and down on the main shaft 200, the position of the clamping assembly can be flexibly adjusted to get closer to the shaft to be clamped. The clamping space inside the clamping assembly is opened, and the shaft is clamped and fixed by the clamping assembly. Then, the position of the clamping assembly is adjusted to load and unload the shaft. When it is necessary to move the shaft along its axial direction to disassemble and assemble the shaft, since the main shaft 200 is rotatably connected to the base 100, the main shaft 200 can rotate on the base 100 around the axis in the up and down direction. The clamping assembly can also rotate on the rotating arm 220 around the axis in the up and down direction, which can push and pull the shaft along its axial direction, thereby realizing the disassembly and assembly of the shaft. In this way, the labor intensity of workers in handling and holding the shaft is reduced, and the efficiency and safety of loading, unloading, disassembly and assembly of the shaft are improved.

[0028] The clamping assembly has an openable clamping space, which can be implemented in various structural forms. For example, the clamping space can open vertically or horizontally. In this embodiment, the clamping space is used to clamp and release the shaft by opening vertically. Specifically, the clamping assembly includes a connecting seat 310, a clamping block 320, and a clamping drive 330. The connecting seat 310 is rotatably connected to the rotating arm 220. A slot 311 is provided on one side of the connecting seat 310. The clamping drive 330 is connected to the top side of the connecting seat 310. The movable end of the clamping drive 330 extends into the slot 311 and is connected to the clamping block 320. The clamping drive 330 can drive the clamping block 320 to move up and down. In practical applications, the clamping drive 330 can be a cylinder, an electric lead screw, or a hydraulic cylinder. The clamping space is formed between the clamping block 320 and the bottom side of the slot 311. When it is necessary to clamp the shaft, the clamping drive 330 drives the clamping block 320 to move upward to the top of its stroke. At this time, the shaft clamping space is open. After the shaft is inserted into the slot 311 on one side of the connecting seat 310, the clamping drive 330 drives the clamping block 320 to move downward, so that the clamping block 320 abuts against the top side of the shaft. At this time, the shaft abuts against the bottom side of the slot 311 by the top side of the clamping block 320, thereby clamping and fixing the shaft. When it is necessary to remove the shaft, the clamping drive 330 drives the clamping block 320 to return to its original position. This is how the clamping and releasing of the shaft is achieved.

[0029] To improve the stability of the clamping block 320 in clamping and fixing the shaft, in this embodiment, the bottom surface of the clamping block 320 is provided with an upper arc-shaped surface 321, the arc-shaped opening of the upper arc-shaped surface 321 facing downwards, and the bottom side of the slot 311 is provided with a lower arc-shaped surface 312, the arc-shaped opening of the lower arc-shaped surface 312 facing upwards. When clamping the shaft, the upper arc-shaped surface 321 and the lower arc-shaped surface 312 abut against the upper and lower sides of the shaft respectively, which can increase the coverage area when clamping and limiting the shaft, effectively preventing the shaft from slipping out of the clamp, thereby improving the safety of handling and holding the shaft.

[0030] Furthermore, anti-slip pads are respectively provided on the bottom side of the upper arc-shaped surface 321 and the top side of the lower arc-shaped surface 312. When the shaft is clamped and fixed, the upper arc-shaped surface 321 and the lower arc-shaped surface 312 abut against the upper and lower sides of the shaft through the anti-slip pads, which can increase the friction between them and the shaft, effectively preventing the shaft from slipping out of the clamp, and the contact between the anti-slip pads and the shaft reduces the possibility of damage to the surface of the shaft during clamping.

[0031] During use, the position of the clamping assembly needs to be adjusted to get closer to the shaft, move the shaft to the required position, and facilitate the assembly and disassembly of the shaft. To facilitate the movement of the clamping assembly, in this embodiment, a push-pull handle 340 is connected to the connecting seat 310. During use, the operator can apply force to the push-pull handle 340 to easily move the connecting seat 310, improving operational convenience.

[0032] The spindle 200 is equipped with a drive source that can move the lifting seat 410 up and down. Specifically, the spindle 200 is equipped with a lifting drive 400, which is connected to the lifting seat 410. The lifting seat 410 is slidably connected to the outside of the spindle 200. The lifting drive 400 can move the lifting seat 410 up and down. The support arm 210 is connected to the lifting seat 410. When it is necessary to adjust the height of the clamping assembly, the lifting drive 400 can drive the support arm 210 up and down through the lifting seat 410, thereby realizing the height adjustment of the clamping assembly. Since there is a sliding connection between the lifting seat 410 and the spindle 200, the stability of the lifting seat 410 during up and down movement is improved.

[0033] The lifting drive 400 can adopt a drive structure such as a cylinder or a hydraulic cylinder. In this embodiment, the lifting drive 400 can be electrically driven to achieve up and down movement. Specifically, the lifting drive 400 includes a motor, a screw, and a transmission block. The motor is connected to the top side of the main shaft 200. The screw is rotatably connected to the main shaft 200 and is driven by the motor. The transmission block is threadedly connected to the screw. A straight groove extending in the up and down direction is provided on the outer side of the main shaft 200. The transmission block extends out of the straight groove and is connected to the lifting seat 410. The main shaft 200 has space to accommodate the screw. The output end of the motor extends into the main shaft 200 and drives the screw to rotate. Since the transmission block is threadedly connected to the screw, and the lifting seat 410 itself has a sliding connection with the main shaft 200 in the vertical direction, when the screw rotates forward or backward, the transmission block can drive the lifting seat 410 to move up or down, thereby adjusting the position of the clamping assembly. This eliminates the need for workers to move the shaft components up and down, improving operational convenience. Furthermore, the transmission structure, such as the screw and transmission block, is installed inside the main shaft 200, which itself surrounds and protects the transmission structure, effectively reducing external interference to the transmission structure and improving the stability and reliability of the lifting drive 400.

[0034] To improve the reliability of the connection between the support arm 210 and the lifting seat 410, in this embodiment, a slanted arm 230 connects the support arm 210 and the lifting seat 410. In practical applications, the slanted arm 230 extends downward at an angle away from the lifting seat 410 and connects to the support arm 210. The slanted arm 230 enhances the reliability of the support arm 210's installation and fixation on the lifting seat 410, increases the load capacity of the support arm 210, and makes the support arm 210 less prone to deformation under stress.

[0035] In use, the base 100 needs to be installed and connected to the structural surface of the peripheral device. To improve the convenience of installing and connecting the base 100, in this embodiment, a mounting plate 110 is provided on the bottom side of the base 100, and the mounting plate 110 is provided with multiple mounting holes 111. During installation, multiple screws and other connectors can be passed through the mounting holes 111 on the mounting plate 110 and then connected to the structural surface of the peripheral device, thereby locking and fixing the mounting plate 110. This allows for quick and stable installation and removal of the base 100.

[0036] Furthermore, a reinforcing rib 120 connects the mounting plate 110 to the base 100. The reinforcing rib 120 increases the deformation resistance of the mounting plate 110, making it less prone to bending under stress. In practical applications, multiple reinforcing ribs 120 are arranged around the base 100, thereby enhancing the connection and stress resistance between the mounting plate 110 and the base 100 at various locations.

[0037] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A shaft-pulling robot, characterized in that: include: Base (100); A main shaft (200) is rotatably connected to the base (100) about an axis in the vertical direction. A support arm (210) that can move up and down is provided on the main shaft (200). A rotating arm (220) is rotatably connected to the support arm (210) about an axis in the vertical direction. A clamping assembly is rotatably connected to the rotating arm (220) about an axis in the vertical direction, and the clamping assembly has an openable clamping shaft space.

2. The shaft-pulling robot according to claim 1, characterized in that: The clamping assembly includes a connecting seat (310), a clamping block (320), and a clamping drive (330). The connecting seat (310) is rotatably connected to the rotating arm (220). A slot (311) is provided on one side of the connecting seat (310). The clamping drive (330) is connected to the top side of the connecting seat (310). The movable end of the clamping drive (330) extends into the slot (311) and is connected to the clamping block (320). The clamping drive (330) can drive the clamping block (320) to move up and down. The clamping space is formed between the clamping block (320) and the bottom side of the slot (311).

3. The shaft-pulling robot according to claim 2, characterized in that: The bottom surface of the clamping block (320) is provided with an upper arc-shaped surface (321), the arc-shaped opening of the upper arc-shaped surface (321) is set downward, and the bottom side of the slot (311) is provided with a lower arc-shaped surface (312), the arc-shaped opening of the lower arc-shaped surface (312) is set upward.

4. The shaft-pulling robot according to claim 3, characterized in that: Anti-slip pads are provided on the bottom side of the upper arc-shaped surface (321) and the top side of the lower arc-shaped surface (312).

5. The shaft-pulling robot according to claim 2, characterized in that: A push-pull handle (340) is connected to the connecting seat (310).

6. The shaft-pulling robot according to claim 1, characterized in that: The main shaft (200) is equipped with a lifting drive (400), which is connected to a lifting seat (410). The lifting seat (410) is slidably connected to the outside of the main shaft (200). The lifting drive (400) can drive the lifting seat (410) to move up and down. The support arm (210) is connected to the lifting seat (410).

7. The shaft-pulling robot according to claim 6, characterized in that: The lifting drive (400) includes a motor, a screw, and a transmission block. The motor is connected to the top side of the main shaft (200), the screw is rotatably connected inside the main shaft (200), the motor is driven by the screw, and the transmission block is threaded onto the screw. The main shaft (200) has a straight groove extending in the vertical direction on its outer side, and the transmission block extends out of the straight groove and is connected to the lifting seat (410).

8. The shaft-pulling robot according to claim 6, characterized in that: An inclined arm (230) is connected between the support arm (210) and the lifting seat (410).

9. The shaft-pulling robot according to claim 1, characterized in that: The base (100) has a mounting plate (110) on its bottom side, and the mounting plate (110) has a plurality of mounting holes (111).

10. The shaft-pulling robot according to claim 9, characterized in that: A reinforcing rib (120) is connected between the mounting plate (110) and the base (100).

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